Exploring RRT and BiRRT algorithms: a review and simulation-based comparison for fixed-wing UAV path planning

Pratama, Gilang Nugraha Putu and Dhewa, Oktaf Agni and Jati, Mentari Putri and Hidayatullah, Indra and Gunawan, Teddy Surya and Gunawan, Syaiful Ardy (2026) Exploring RRT and BiRRT algorithms: a review and simulation-based comparison for fixed-wing UAV path planning. Buletin Ilmiah Sarjana Teknik Elektro, 8 (2). pp. 476-487. ISSN 2685-9572

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Abstract

Path planning plays a vital role in ensuring the safe and efficient navigation of fixed-wing unmanned aerial vehicles (UAVs), particularly in cluttered and complex environments. The increasing demand for autonomous UAV operations highlights the need for reliable algorithms capable of generating optimal and collision-free trajectories. This study addresses the challenge by reviewing recent uses of the Rapidly-exploring Random Tree (RRT) algorithm in various robotic platforms and navigation tasks. The research contribution of this paper is a comparative analysis of RRT and BiRRT for fixed-wing UAV path planning, quantifying trade-offs between path length, computation time, and obstacle clearance using a real-world 2D urban map. This addresses a gap in the literature, as few studies have directly compared these algorithms specifically for fixed-wing UAV surveillance missions. The methods involve implementing both RRT and BiRRT in a simulated environment where each algorithm is evaluated over 100 runs to measure performance metrics such as path length, computation time, and obstacle clearance. A realistic urban map is used to test the algorithms under consistent starting and goal positions. The results show that both RRT and BiRRT achieve a 100% success rate in finding collision-free paths. BiRRT consistently generates shorter paths and requires less computation time, making it more suitable for time-sensitive missions. However, RRT produces safer trajectories with greater average clearance from obstacles, which is advantageous in environments with high collision risk. The findings demonstrate a clear trade-off between safety and efficiency. In conclusion, BiRRT is recommended for missions where speed and efficiency are prioritized, while RRT is better suited for operations emphasizing safety and obstacle avoidance.

Item Type:	Article (Journal)
Uncontrolled Keywords:	RRT, BiRRT, Path Planning, Fixed-Wing, UAV
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800 Electronics. Computer engineering. Computer hardware. Photoelectronic devices > TK7885 Computer engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Electrical and Computer Engineering Kulliyyah of Engineering
Depositing User:	Prof. Dr. Teddy Surya Gunawan
Date Deposited:	14 May 2026 11:39
Last Modified:	14 May 2026 11:39
Queue Number:	2026-05-Q3310
URI:	http://irep.iium.edu.my/id/eprint/128941

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